Modeling GUI

Purpose:
This GUI accepts user input of physical measurements from their quadcopter
vehicle. A primary purpose of this interface is to calculate the moment of inertia matrix for
the vehicle based on specific dimensions and measurements of the quadcopter. The
interface also accepts the performance coefficients and other parameters obtained through
motor testing. Once all of the fields are populated, the interface saves a MATLAB
structure that contains all the parameters required to run the simulation. A structure is a
data type that gives us a way to combine multiple pieces of information into a single
variable that can easily be passed around the MATLAB environment. The modeling GUI can
be seen below in Figure 1.

Figure 1. Modeling GUI

Modeling GUI

Description:
1. Unit System toggle: toggle units between SI and English based on the measurement
tools being utilized. IMPORTANT: Whether inputs are in grams/centimeters or
ounces/inches, the program will convert everything into the SI unit system
(kilograms/meters) for use in the simulation.
2. Inputs for Motor, ESC, HUB, and Arm dimensions (either in g/cm or oz./in.).
o Motors:

m: mass of 1 motor (with propeller) using scale

dm: distance from the center of mass (COM) of the motor to the COM
of the quad vehicle (COM is assumed to coincide with geometric
center!)

h: height of the motor above the arm (not including prop axel)

r: radius of a motor

o ESCs:

m: mass of 1 ESC

a: width of an ESC

b: length of an ESC

ds: distance from the COM of the ESC to the COM the quad vehicle

o Central HUB:

m: total mass of the central HUB (including battery, controller, power

distribution board, etc.). This value might be most easily obtained by
subtracting the mass of the individual components mentioned herein
by the total weight of the quad in a ready-to-fly state (i.e. Hub mass
= Total mass (Motors + ESCs + Arms).

r: radius of the central HUB (modeled as a cylinder, estimate as

needed)

H: height of the central hub (total height, modeled as a cylinder, see

Hub diagram)

o Arms:

Modeling GUI

m: mass of (1) arm (motor, ESC, etc. excluded)

r: radius of an arm (modeled as a cylindrical rod)

2

L: length of an arm (arm only up to attachment to HUB)

3. Toggle between graphics to display in center of GUI to assist in measuring

parameters.
4. Motor, ESC, HUB, and Arm graphics displayed in center of GUI
5. Motor Test Data inputs: Coefficients obtained from motor test data are entered here.
Also, Min Throttle (the minimum throttle setting for which actual motor rotation is
achieved) can be entered. If this value is not known, simply enter 0.
6. Select the Calculate button to calculate the Gross Weight of the vehicle, and the Jx,
Jy, and Jz values of the inertia matrix. Or, select Clear All to clear all of the GUI
fields.
7. Once the fields are populated, the user can select Save as + or Save as X to save
the model in a plus configuration or in an X configuration. The parameters are
saved inside a MATLAB structure from which the Simulink simulation extracts
them during simulation. If a model is already saved, the user can select Load
Model to select a desired structure and the GUI will populate the fields with these
saved parameters. This is useful because if the user wishes to adjust 1 parameter of
their model they dont need to retype everything in again.
NOTE: While this GUI provides a useful interface, a user can modify the quadcopter
model structure directly from the command line. However, note that this procedure
must be done carefully, since some of the parameters are used within the GUI to
calculate other parameters, and these operations are actually performed within the GUI
itself and NOT by the structure or the simulation. In other words, changing the
quadcopter model from outside the GUI is okay, but should be done only after making
certain the simulation will interact with the structure in the manner you intend. For
more details, you will need to look at the code of this GUI and the Simulink diagram and
quadcopter dynamics S-Function quadcopterDynamicsSFunction.m to see how your
needs can best be met.

Modeling GUI

Graphics:
Motors

ESCs

Central HUB
Modeling GUI

Arms

Modeling GUI